VR motion base control apparatus and it&#39;s supporting structure

ABSTRACT

A simulation rider transporting apparatus includes a seat having means for constraining an attitude of a rider mounted on a first base and having a second base positioned under the first base. Elevation means for elevating the first base include two cranks which are arranged opposite to each other between the first and the second base. Each of the cranks has crank arms with each crank arm having one end coupled to the second base. A crank rod is provided for coupling the other end of each crank arm to the first base. Drive means are provided for changing a relative angle between the two crank arms to a predetermined value and for holding the changed relative angle.

BACKGROUND OF THE INVENTION

The present invention is related to a control by a synchronizationsystem between a picture and a motion base in a simulation ride systemfor moving the motion base in connection with the picture.

Also, the present invention is related to a VR (virtual reality) motionproducing apparatus, and more specifically, a motion data producingsystem of a motion base in a simulation ride system for moving a motionbase in connection with a CG (computer graphics) picture.

Furthermore, the present invention is related to a simulation ridertransporting apparatus, and more specifically, to a simulation ridertransporting apparatus containing a means for constraining an attitudeand a position of a rider, e.g., a seat and an arm; a carriage formounting this constraining means; a means for constraining that thiscarriage is transportable; and an actuator.

Conventionally, since a picture scenario is determined (non-interactivesystem), a synchronization between a picture and an operation of amotion base is merely established only at:a starting time. Thereafter, apicture apparatus and a motion base control apparatus are independentlycontrolled.

Also, conventionally, in a simulation ride system for operating a motionbase in connection with a CG picture, for example, in a flightsimulator, in order to form motion (movement) of the motion base, namelymotion data, a person who is observing this CG picture directly operatesthis motion who instruct the movement (for example, a direct instructionwhile actually moving a motion base, this operation is instructed; anoff-line instruction such that while moving a model of a motion base,this operation is instructed; and an NC instruction such that whileactually entering as numeral values velocities and positional changes inthe respective axes of a motion base, this operation is instructed).

These conventional instruction methods are directed to such instructionmethods for mainly using the motion bases, which are substantiallydetermined by human sensitivities. Therefore, expert techniques arenecessarily required, and these conventional instruction methods shouldrequired huge amounts of cost and very large numbers of manufacturingstages. On the other hand, while CG (computer graphics) techniques areprogressed, pictures are also expressed by computer graphics. As aconsequence, the scenario fixed systems are substituted by such systemsthat scenarios are changed by events. In this scenario fixed system,operation patterns of dynamic objects to be controlled (air plane andvehicle etc.,) are previously defined, namely, the non-interactivesystem. In the latter system, namely the interactive system, theoperation patterns of the dynamic objects to be controlled are changedin response to handle operations. That is, the operation patterns can behardly predicted. In this latter-mentioned interactive system, since theoperation patterns can be hardly predicted, there is such a problem.That is to say, in the conventional system such that the operationpatterns have been defined as the initial condition, the operations ofthe motion base cannot be instructed.

Furthermore, the conventional simulation rider transporting apparatus iscomprised of: means for constraining an attitude of a rider and aposition thereof such as a seat and an arm; a first base-for ridingthereon both the rider and said constraining means; a second basearranged under said first base; and elevation means for elevating saidfirst base; a base; and a forward/backward transportable actuator. Then,as this elevation means, such an elevation device is known (seeJP-A-60-143379). This elevation device is located under the first base,the respective actuators are coupled to the first base at the maximumpoints thereof, and the first base is moved in the swing manner byexpanding/compressing the cylinder type rod.

In this conventional simulation rider transporting apparatus, since thebase is moved in the swing manner by expanding/compressing the cylindertype rod, both the lengths of the actuators and the length of the rodbecome long. Therefore, there is such a problem that the height of thesimulation rider transporting apparatus is increased. Thus, such ahigh-simulation rider transporting apparatus can be hardly installed inthe existing facilities.

Also, another conventional simulation rider transporting apparatus isknown. That is as the elevation means, cranks are used, and, a drivemeans is used so as to hold the angle between each of the cranks and thesecond base as a preselected value and the change this value. However,since torque of the drive means is effected between the second base andthe cranks, undesirable situations occur.

Moreover, as a means for constraining the first base and the attitude,the constraining mechanism is required in addition to the actuator.Thus, the apparatus becomes complex, which may cause an increase of theweight thereof.

Also, there are since cases that although the picture is synchronizedwith the operation of the motion base at the starting time in the priorart, this synchronization is shifted due to differences in theprocessing capabilities of the respective control apparatuses thereof.

If the picture is not synchronized with the operation of the motionbase, then the motion data (operation) which is originally produced inconnection with the picture would be executed when the originally setpicture scene is displayed.

This situation may give unpleasant feelings to the persons who ride onthe motion base. As a result, the concentration feelings to the pictureplay world directed by the simulation ride system would be lost.

A subject to be solved by the present invention is to provide acorrection means effected in such a case that a synchronization betweena picture and operation of a motion base is shifted.

The present invention is equipped with the below-mentioned means as ameans for solving the above-explained subject without deterioratingconcentration feelings of a rider on a motion base with respect to apicture.

(1) A correction means fitted to a picture is provided on the basis of apicture.

(2) A means for using/correcting a frame No. (number) of a picture synccommand every frame during which a picture can be outputted is provided.

(3) As the correcting method, the following means are provided:

A means for comparing a frame No. present in a picture sync command(frame presently displayed by picture apparatus) with a frame No.indicative of motion data executed by a motion base, for calculating acorrection velocity from a difference component to change an operationvelocity of the motion base, and thereby for synchronizing the motiondata with the picture.

A correcting method effected when the frame No. is used is such a meansthat the motion data is changed into motion data of the relevant frameNo. based upon the frame No. of the picture which is outputted from thepicture apparatus and is presently imaged, and subsequently, the motiondata arranged in a sequential manner are executed so as to synchronizethe picture with the operation of the motion base.

Even when the synchronization established between the picture and theoperation of the motion base is shifted, the motion base controlapparatus having the means for solving the above-described problem canmaintain the synchronization between the picture and the operation ofthe motion base without correcting the picture (when the picture iscorrected, the frame will drop).

Also, another object of the present invention is to provide a VR motionproducing apparatus capable of producing motion base operation data fromCG data, capable of producing operation data of a motion base even in aninteractive system that an operation pattern cannot be previouslypredicted, and also capable of being widely applied to various motionbases.

The present invention is to provide a VR motion producing apparatuscomprising motion model converting means for converting a motion modelof an object to be controlled which is moved within a virtual realityspace constituted by computer graphics into another motion model of amotion base having a finite stroke, wherein: the object to be controlledis a dynamic object; and the motion model converting means converts themotion model of the dynamic object to be controlled into the motionmodel of the motion base having the finite stroke.

The present invention is to provide a VR motion producing apparatuswherein: the motion model converting means converts coordinate data ofthe motion model of the dynamic object to be controlled into coordinatedata of the motion model of the motion base.

The present invention is to provide a VR motion producing apparatuswherein: the motion model converting means is conversion means forconverting in a real time.

The present invention is to provide a VR motion producing apparatuswherein: the VR motion producing apparatus is used in a simulation ridesystem corresponding to an interactive system.

The present invention is to provide a VR motion producing apparatuswherein: the VR motion producing apparatus is comprised of: means forextracting coordinate data used to draw the motion model of the dynamicobject to be controlled; means for calculating a velocity change of thedynamic object to be controlled within the VR space from the extractedcoordinate data; and means for calculating an attitude change of thedynamic object to be controlled every time instant.

The present invention is to provide a VR motion producing apparatuswherein: the VR motion producing apparatus is comprised of: means forresolving the calculated velocity change into the respective axialcomponents of an object coordinate system fixed to a dynamic model to becontrolled so as to calculate a velocity change amount of each of theaxes of the object coordinate system; and means for scaling thecalculated velocity change amount to convert the scaled velocity changeamount into a motion amount within a finite stroke of a motion basewhich is actually operated.

Furthermore, the present invention is to provide a VR motion producingapparatus wherein: the VR motion producing apparatus is comprised of:means for converting the calculated attitude change of the dynamicobject to be controlled into a rotation amount of each of the axes ofthe object coordinate system fixed to the dynamic object to becontrolled; and means for scaling the converted rotation amount toconvert the scaled rotation amount into a motion amount within a finitestoke of a motion base which is actually operated.

The present invention is to provide a VR motion producing apparatuswherein: the VR motion producing apparatus is comprised of: means forcutting a frequency component of data at a designated frequency withrespect to operation data of the motion base calculated by the operationmodel connecting means; and means capable of producing motion data of amotion base, taking account of a mechanical mechanism of a motion base.

Furthermore, the present invention is to provide a simulation ridertransporting apparatus capable of suppressing a height of thissimulation rider transporting apparatus to a low height.

The present invention is to provide a simulation rider transportingapparatus comprising: means for constraining an attitude of a rider anda position thereof such as a seat and an arm; a first base for ridingthereon both the rider and the containing means; a second base arrangedunder the first base; and elevation means for elevating said first base,wherein: the elevation means owns two cranks which are arranged oppositeto each other between the first base and the second base; the two cranksown crank arms whose one edge is coupled to the second base, and a crankrod for coupling the other edge of the crank arm to the first base; andthe simulation rider transporting apparatus is comprised of drive meansfor changing a relative angle between the two crank arms into apredetermined value, and for holding the changed relative angle.

The present invention is to provide a simulation rider transportingapparatus wherein: coupling means having a rotation free degree alongthree axial directions is arranged between the crank rod and the firstbase, and the drive means is a single motor.

The simulation rider transporting apparatus is further comprised of:means for driving the second base along forward/backward direction.

Concretely speaking, the elevation means owns a rotation free degreewith respect to one axial direction which intersects at a right angle aplane where the cranks are moved; and three sets of the elevation meansare arranged on front center portion and both side of rear portionsconcerned with the second base, and the three elevation means aredisposed so that moving surfaces of each crank intersects at one point.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a system structural diagram according o an embodiment of thepresent invention.

FIG. 2A and FIG. 2B are I/F command specification diagrams between apicture and a motion control apparatus in the embodiment of FIG. 1.

FIG. 3 is a diagram for showing an arrangement of the motion controlapparatus and a data flow thereof.

FIG. 4 is a diagram for representing a format of motion data.

FIG. 5A, FIG. 5B and FIG. 5C are explanatory diagrams for indicating adeviation of a picture from a motion control.

FIG. 6 is a flow chart of a speed correction function.

FIG. 7 is a flow chart of a frame correction mechanism.

FIG. 8 is a diagram for showing one structural example of a simulationride system employed in a VR motion producing apparatus according toanother embodiment of the present invention.

FIG. 9 is a diagram for showing an example of picture output coordinatedata in the structural example of FIG. 8.

FIG. 10A and FIG. 10B are explanatory diagrams for explaining an exampleof,an output format of a picture system in the structural example ofFIG. 8.

FIG. 11 is a diagram for showing an example of a motion executingmechanism on a motion base having a finite stroke in the structuralexample of FIG. 8.

FIG. 12A, FIG. 12B, and FIG. 12C are explanatory diagrams for explainingan example of reverse converting formulae in the motion executingmechanism.

FIG. 13 is an explanatory diagram for explaining an example of a modelexecution flow.

FIG. 14 is a side view for showing a simulation rider transportingapparatus according to a further embodiment of the present invention.

FIG. 15 is a plan view for representing an arrangement of an elevationmeans of the simulation rider transporting means indicated in FIG. 14.

FIG. 16 is plan view for representing a construction of an elevationactuator of the simulation rider transporting apparatus shown in FIG.14.

FIG. 17 is a front view for indicating the elevation actuator shown inFIG. 16.

FIG. 18 is a side view for indicating the construction of the elevationactuator shown in FIG. 16. FIG. 19 is an explanatory diagram for showinga coupling means between the elevation actuator and the mounting base.

FIG. 20 is an explanatory diagram for explaining in detail the couplingmeans between the elevation actuator and the mounting base.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Referring now to FIG. 1, an embodiment of the present invention will beexplained. FIG. 1 indicates a system arrangement for carrying out thepresent invention.

A picture apparatus uses a projector 12 from a picture control apparatus11 to display a picture on a screen 13.

A motion base 15 is controlled by a motion base control apparatus 14.The motion base control apparatus 14 is connected to the picture controlapparatus 11 by a LAN 16, so that data can be transmitted/receivedbetween them.

When in response to a starting instruction, the picture apparatusoutputs picture data stored inside the picture control apparatus 11 tothe projector 12 every 1 frame, both a picture starting command 21 and apicture sync command 22 shown in FIG. 2A and FIG. 2B are transmittedfrom the picture control apparatus 11 to the LAN 16, and are received bythe motion control apparatus 14.

In FIG. 2A and FIG. 2B, the respective abbreviated words are given asfollows:

MSGTYPE: message sort

DELSEG: reception segment (message buffer) deleting attribute

RSPQNo: message responding queue No.

CTYPE: message type

CFUNC: message function sort code

RTNC: return code

DTL: data length

DAT: data

The motion control apparatus 14 is so arranged that this motion controlapparatus 14 is separated into a man/machine controller processor (MCP)31 functioning as an I/F with respect to the LAN shown in FIG. 3, andalso a realtime control processor (RCP) 32 for controlling a motioncontrol in a realtime manner, and these processing systems are coupledwith each other by way of a DPRAM 34 equipped with an interruptfunction.

First, when the picture starting command 21 transmitted from the picturecontrol apparatus 11 of FIG. 1 to the LAN 16 is received by a LANcontrol system 33 of the MCP 31, the LAN control system 33 writes acommand into an area of the DPRAM 34 so as to transfer the picturestarting command to the RCP 32, and issues an interrupt in order thatthe RCP 32 can recognize this picture starting command (process (1)).

When the interrupt is established in the RCP 32 at a process (2), ahandler 40 of the RCP 32 is operated (process (3)), and data is passedvia the man/machine controller processor (process (4)) to an MCL control35 for controlling the motion (process (5)).

In the MCL control 35, a check is made as to whether or not the motionbase is set under initiation available state. If the motion base is setunder initiation available state, an external clock process 36 isinitiated (process A) by which a trigger is applied so as to regularlyinitiate a time control 37 (servo control).

The external clock process 36 initiates the time control 37 every time atime period of 1 frame (namely, time interval used to display 1 frame bypicture apparatus 1) (process B). The time control acquires data from amotion data file 38, which are arranged in the order of the frame number(process D). While using this data as an instruction value, the servocontrol is carried out (process E), so that operation of a motion baseis realized.

During operation, motion data having a format of FIG. 4 for each offrames is derived every an external clock time period, an instructionvalue is outputted to a servo (process E), and a feedback G is monitoredto operate so as to realize a control in connection with a picture. Inthis case, symbol “Unsigned Char” is 1-byte data without code, symbol“Unsigned Short” shows 2-byte data without code, and symbol “Long”represents double precision floating decimal point data.

However, this process operation would cause a difference with respect tothe motion control apparatus for originally controlling the framedisplay period as a constant frame display period, since this framedisplay period of the picture apparatus.

When this condition is explained with reference to FIG. 5A, FIG. 5B,FIG. 5C, under picture control, a picture originally drops in a frameN+1 (FIG. 5B). In synchronism with this picture drop, the motion basemust carry out operation of the drop condition 51. However, when thesynchronization is shifted, or deviated (in FIG. 5B, motion base isdelayed), operation of the horizontal operation 52 is carried out.

When this delay happens to occur, the picture cannot be synchronizedwith the operation of the motion base, so that this condition would giveunpleasant feelings to a person riding on the motion base, and alsowould deprive concentration feelings to the picture.

As a consequence, in accordance with the present invention, such asystem can be realized that the operation of the motion base iscorrected, and even when the frames of the picture apparatus arefluctuated, the operation of the motion base can be synchronized withthe picture by the correction.

First, a frame No. present in a picture sync command (namely, framepresently displayed by picture apparatus) is compared with: anotherframe No. indicative of motion data executed by the motion base, acorrection velocity is calculated from a difference between them, andthe operation velocity of the motion base is changed, so that the motiondata can be synchronized with the picture.

FIG. 6 indicates a flow chart of this process operation.

The motion control apparatus 14 transfers the picture sync command up tothe MCL control 35 shown in FIG. 3 similar to the picture startingcommand. In the MCL control 35, a frame No. (Fe No., numeral 24 of FIG.2) is derived from the picture sync command (step 61). At the same time,another frame No. (Fm No., numeral 41 of FIG. 4) is derived from themotion data under execution by the time control 37 (step 62). Whilecomparing these two frames with each other (step 63), when thecomparison result is the same, it can be judged that the synchronizationis established, and then no correction control is carried out. When thecomparison result at the step 63 becomes different, a correctionvelocity “DV” is calculated in accordance with formula (1) (step 64).

A calculation method of the correction velocity “ΔV”:

ΔV=vn−(ΔL/(T+ΔT))  (1)

Vn: move velocity up to target position

T: reach time up to target position

ΔL: move distance from present position up to target position

T: sync shift time calculated from difference in frame numbers

ΔT=(FeNo.−FmNo.)*S

FeNo. : frame No. of picture sync command

FmNo. : execution frame No. of motion control apparatus

S: 1 frame time period

Then, a large/small relationship between the frame Nos is compared (step65). When the frame No of the picture sync command is large, it is sojudged that the picture is advanced. In order to increase the operationvelocity of the motion base, the correction velocity calculated based onthe formula (1) is added to the original operation velocity (step 66).

When the reverse relationship is established, it is so judged that thepicture is delayed (step 65). In order to delay the operation velocity,the calculated correction velocity is subtracted (step 67). As a resultof this process operation, the velocity can be corrected.

Next, a description will now be made of the frame correction withreference to FIG. 7. FIG. 8 is a diagram for showing one structuralexample of a simulation ride system employed in a VR motion producingapparatus according to another embodiment of the present invention. FIG.9 is a diagram for showing an example of picture output coordinate datain the structural example of FIG. 8. FIG. 10A and FIG. 10B areexplanatory diagrams for explaining an example of an output format of apicture system in the structural example of FIG. 8. FIG. 11 is a diagramfor showing an example of a motion executing mechanism on a motion basehaving a finite stroke in the structural example of FIG. 8. FIG. 12A,FIG. 12B, and FIG. 12C are explanatory diagrams for explaining anexample of reverse converting formulae in the motion executingmechanism. FIG. 13 is an explanatory diagram for explaining an exampleof a model execution flow.

As represented in FIG. 8, one example of an arrangement of a simulationride system with employment of the VR motion producing apparatusaccording to this embodiment, is arranged by a picture control apparatus11, a projector 12, a screen 13, a motion base control apparatus 14, amotion base 15, and a LAN 16, and also an input apparatus 17 equippedwith an handle.

The picture control apparatus 11 stores data picture (picture made byCG) in a system where a scenario is changed by an event (namely, asystem such that an operation pattern of a dynamic object to becontrolled is changed by manipulating a handle provided on the inputapparatus 17, i.e., an interactive system such that an operation patterncan be hardly predicted). The projector 12 receives the data picturefrom the picture control apparatus 11 and then projects the picture ontothe screen 13.

The motion base control apparatus 14 controls the operation and the likeof the motion base 15. The motion base causes a person to ride thereon.The LAN 16 connects the motion base control apparatus 14 to the picturecontrol apparatus 11, so that the data can be transmitted/received. Theinput apparatus 17 is manipulated by the person who rides on the motionbase. As a result, the data picture is projected from the picturecontrol apparatus 11 onto the screen 13 by using the projector 12. Inthe case that the person who rides on the motion base 15 manipulates theinput apparatus 17 in accordance with a content projected on the screen13, the person can own the interactive characteristic.

When the picture control apparatus 11 starts to project the picture, inorder to draw a dynamic object to be controlled (namely, when the personwho rides the motion base 15 rides on this object, this person becomes acontent as an assumption) within a VR space, the picture controlapparatus 11 controls attitude/position data on this VR space to drawthe object to be controlled on the VR space. An example of coordinatedata Σoi at this time is shown in FIG. 9. The picture control apparatus11 produces in a time sequential manner (time instant “i” 91, timeinstant i+1, 92), coordinate data (attitude and position) of a VRcoordinate system Σvr indicated in FIG. 9. This data is derived in thetime sequential manner, this derived data is converted into VR spacecoordinate data 31, and then the VR space coordinate data is outputtedfrom the picture control apparatus 11 to the LAN 16. As indicated inFIG. 10A, the VR space coordinate data 31 is constituted by a picturetime period and VR coordinate data. Then, as represented in FIG. 10B,the VR coordinate data is arranged by attitude data (Nvx, Nvy, Nvz, Avx,Avy, Avz) and positional data (Pvx, Pvy, Pvz). The VR space coordinatedata 31 is outputted to the LAN 16, and is received by the motioncontrol apparatus 14.

The motion control apparatus 14 owns the above-explained arrangement ofFIG. 3.

First, when the VR space coordinate data is received by a LAN controlsystem 33 of the MCP 31, the LAN control system 33 writes a command intoan area of the DPRAM 34 so as to pass to the RCP 32 (1), and issues aninterrupt which can be recognized by the RCP 32. When the interrupt ismade in the RCP,32, the handler 40 of the RCP 3 is operated (2), thedata is transferred to the MCL control 35 for controlling the motion.The MCL control 35 judges as to whether or not the motion base is setunder initiatable state. If the motion base is brought into such aninitiatable state, then an external clock process 36 is initiated whichmay apply such a trigger used to regularly initiate the time control 37(servo control). (A) The external clock process 36 initiates the timecontrol 37 every time period of 1 frame (namely, time interval duringwhich the video control apparatus displays 1 frame), and executes thefollowing control, so that the operation of the motion base in such amanner that motion data of a motion base having a mechanism model shownin FIG. 11 as one example the VR space coordinate data is produced, andthis produced motion data is operated as an instruction value.

In the time control 37, both the VR space coordinate data 21 and 22 at atime instant “i” and another time instant “i+1” are acquired. At thistime, the data may be defined as follows:

Σvr: VR space coordinate system (word coordinate system),

Σoi: dynamic object (to be controlled) coordinate system (time instant“i”),

Pvi=(Pvxi, Pvyi, Pvzi): origin positional data vector (time instant “i”)of object (to be controlled) coordinate system,

Avi=(Avxi, Avyi, Avzi): advance direction vector (time instant “i”) ofobject (to be controlled) object coordinate,

Nvi=(Nvxi, Nvyi, Nvzi): normal direction vector (time instant. “i”) ofobject (to be controlled) object coordinate.

It should be noted. that the X axis of Σoi is made coincident with Nvi,and the Z axis of Σoi is made coincident with Avi.

When the above-described origin positional data vector Pvi of thedynamic object (to be controlled) object coordinate system is used, thevelocity vector Vi can be calculated based on formula (2):$\begin{matrix}{\overset{\rightharpoonup}{V_{i}} = \frac{{{\overset{\rightarrow}{P}}_{i + 1} - {\overset{\rightarrow}{P}}_{i}}}{\left( {i + 1} \right) - i}} & (2)\end{matrix}$

Also, a simultaneous transformation matrix “Ai” of the object (to becontrolled) coordinate system Σoi at the time instant “i” is given byformula (3): $\begin{matrix}{A_{i} = {\begin{matrix}{\overset{\rightarrow}{N}{vi}} & {\overset{\rightarrow}{N}{vi} \times \overset{\rightarrow}{A}{vi}} & {\overset{\rightarrow}{A}{vi}} & {\overset{\rightarrow}{P}{vi}} \\0 & 0 & 0 & 1\end{matrix}}} & (3)\end{matrix}$

Then, assuming now that a simultaneous transformation matrix from theobject (to be controlled) coordinate system Σoi at the time instant “i”to the coordinate system Σoi+1 at the time instant “i+1”, the followingformula (4) is established: $\begin{matrix}\begin{matrix}{A_{i + 1} = {A_{i} \times B_{i + 1}}} \\{{\therefore B_{i + 1}} = {A_{i}^{-} \times A_{i + 1}}} \\{= {\begin{matrix}N_{{vxi} + 1} & O_{{vxi} + 1} & A_{{vxi} + 1} & P_{{vxi} + 1} \\N_{{vyi} + 1} & O_{{vyi} + 1} & A_{{vyi} + 1} & P_{{vyi} + 1} \\N_{{vzi} + 1} & O_{{vzi} + 1} & A_{{vzi} + 1} & P_{{vzi} + 1} \\0 & 0 & 0 & 1\end{matrix}}}\end{matrix} & (4)\end{matrix}$

It should also be noted that symbol Ai⁻ is an inverse matrix of Ai, andsymbol Ovi (Ovxi, Ovyi, Ovzi) indicates an oriental vector, is equal toNvi X Avi (outer product vector).

Next, a conversion formula from (Nvi+1, Ovi+1, Avi+1) to attitude dataof an object to be controlled is described as the following formula (5),the attitude data are expressed by roll (rot (Z, RRvi+1)), pitch (rot(Y, PPvi+1)), and yaw (rot(X, YYvi+1)): $\begin{matrix}{{\begin{matrix}{\overset{\rightarrow}{N}}_{{vi} + 1} & {\overset{\rightarrow}{O}}_{{vi} + 1} & {\overset{\rightarrow}{A}}_{{vi} + 1} & \overset{\rightarrow}{O} \\0 & 0 & 0 & 1\end{matrix}} = {{\begin{matrix}{Crr} & {- {Srr}} & 0 & 0 \\{Srr} & {Crr} & 0 & 0 \\0 & 0 & 1 & 0 \\0 & 0 & 0 & 1\end{matrix}}\quad {\begin{matrix}{Cpp} & 0 & {Spp} & 0 \\0 & 1 & 0 & 0 \\{- {Spp}} & 0 & {Cpp} & 0 \\0 & 0 & 0 & 1\end{matrix}}\quad {\begin{matrix}1 & 0 & 0 & 0 \\0 & {Cyy} & {- {Syy}} & 0 \\0 & {Syy} & {Cyy} & 0 \\0 & 0 & 0 & 1\end{matrix}}}} & (5)\end{matrix}$

note=Crr=Crr=cos(RRvi+1), Srr=sin(RRvi+1)

Cpp=cos(PPvi+1), Spp=sin(PPvi+1)

Cyy=cos(YYvi+1), Syy=sin(YYvi+1) Now, when rot (Z, RRvi+1)⁻ ismultiplexed by both hands from the left direction, the below-mentionedformula (6) is obtained: $\begin{matrix}{{{\begin{matrix}{Crr} & {Srr} & 0 & 0 \\{- {Srr}} & {Crr} & 0 & 0 \\0 & 0 & 1 & 0 \\0 & 0 & 0 & 1\end{matrix}}\quad {\begin{matrix}{Nvxi} & {Ovxi} & {{Avxi} + 1} & 0 \\{Nvyi} & {Ovyi} & {{Avyi} + 1} & 0 \\{Nvzi} & {Ovzi} & {{Avzi} + 1} & 0 \\0 & 0 & 0 & 1\end{matrix}}} = {\begin{matrix}{Cpp} & {{Spp} \times {Syy}} & {{Spp} \times {Cyy}} & 0 \\0 & {Cyy} & {- {Syy}} & 0 \\{- {Spp}} & {{Cpp} \times {Syy}} & {{Cpp} \times {Cyy}} & 0 \\0 & 0 & 0 & 1\end{matrix}}} & (6)\end{matrix}$

Based upon the above-explained formula, RRvi+1, PPvi+1, and YYvi+1 canbe calculated:

−Srr*(Nvxi+1)+Crr*(Nvyi+1)=0

∴Rrvi+1=tan⁻[(Nvyi+1)/(Nvxi+1)]

−Spp=Nvzi+1

Cpp=Crr*(Nvxi+1)+Srr*(Nvyi+1)

∴PPvi+1−tan⁻[−(Nvzi+1)/((Crr*(Nvxi+1)+Srr*(Nvyi+1))]

Syy=−Srr*(Avxi+1)+Crr*(Avyi+1)

Cyy=−Srr*(Ovxi+1)+Crr*(Ovyi+1)

∴Yyvi+1=tan−[(−Srr*(Avxi+1) +Crr*(Avyi+1))/(Srr*(Ovxi+1) −Crr*(Ovyi+1))]

The position/attitude data which should be operated on the motion basecan be calculated based on the position/attitude data of the dynamicobject (to be controlled) as previously explained. This can be executedonly in such a case that the. operation stroke is equivalent to thedynamic object (to be controlled) within the VR space. In this case, inorder to realize operation occurred on the motion base having the finitestroke as indicated in FIG. 5 without having any sense of incongruity,converted into motion data by using a motion model having the followingconverting method, so as to operate mechanism in FIG. 11 concerned witheach axis instruction data after converted, converted into a value ofball screw described by analysis chart as in FIGS. 12A, 12B, 12C, andactual operation is realized by servo instruction of time control 37 asshown in FIG. 3. As a basic idea of a motion model, a velocity feelingcan be achieved only by using a visual feeling (picture), or a hearingfeeling (sound), and a contact feeling (wind) on the motion base havingthe finite stroke mechanism. As a consequence, such a model capable ofincreasing concentration feelings of the rider on the motion base isdesigned by utilizing both the acceleration effect and the gravityeffect.

Referring now to the analysis diagram shown in FIG. 12A, FIG. 12B, FIG.12C, the inverse conversion formula will be explained. First, theconversion into the coordinate system of P1 (P1 being viewed from seatcoordinate) is given as follows, as represented in FIG. 12A, consideringnow projections of X-Y plane and Y-Z plane (note that there is noadverse influence by Pitch):

X′=X+Ls*cosp

Z′=Z−Ls*sinp

r′=r (rotation centers of Roll and Pitch of a mechanism are “P1” due toarrangement of M2, M3)

p′=p (rotation centers of Roll and Pitch of a mechanism are “P1” due toarrangement of M2, M3)

Next, when L2 and L3 are analyzed, the inverse conversion formula can beobtained as indicated in FIG. 12B.

Furthermore, when the projection of the X-Z plane is carried out, theinverse conversion formula can be obtained as shown in FIG. 12C. As aresult, L1, L2, L3, and L4 can be calculated as follows:

L 2=SQR[(Lb(1-cos r)/sin α)²+(Z−Ls*sin p+Lb*sin r)²]

L 3=SQR[(Lb(1-cos r)/sin α)²+(Z−Ls*sin p−Lb*sin r)²]

L 1=SQR[((Lb(1-cos r)/sin α)cos α−La(1-cos p)²+(Z−Ls*sin p+La*sin p)²]

L4=Lc−[X+Ls*cos p+(Lb(1-cos r)/sin α)cos α]

Next, a description will now be made of conversion models into Surgeoperation, Heave operation, and Sway operation; a mechanism correctionmodel (Sway correction, Surge correction); and a filtering correctionmodel.

(1) Conversion model into Surge operation.

The surge operation corresponds to forward/backward operation of amotion base. Since this motion may give acceleration feelings of amotion base rider along the forward/backward direction, an accelerationvelocity of an object to be controlled is calculated from thebelow-mentioned formula (7). Then in order to realize a finite stroke, ascaling of formula (8) is carried out, so that both an operation strokeand a velocity can be calculated;

Axi=d ²(|(Pxi+1)−Pxi|)/dt ²  (7)

ΔSxi=ΔSxi=(Lx/2)*(Axi/Axmax)  (8).

Note that when Axi>Axmax, it is set: Axi=Axmax.

Vxi=d(|(Pxi+1)−Pxi|)/dt

Axi: Surge axis acceleration velocity (time instant “i”) of object to becontrolled on VR,

ΔSxi: Surge axis operation amount (time instant “i”),

Vxi: Surge axis transport velocity (time instant “i”),

Lx: Surge axis maximum operation stroke,

Axmax: Surge axis allowable maximum acceleration velocity,

Pxi: positional data (X component, time instant “i”) of object to becontrolled.

(2) Conversion model to Heave operation.

The Heave operation corresponds to upper/lower operations of a motionbase. Since this motion may give acceleration feelings of a motion baserider along the upper/lower direction, an acceleration velocity of anobject to be controlled is calculated from the below-mentioned formula(9). Then, in order to realize a finite stroke a scaling of formula (10)is carried out, so that both an operation stroke and a velocity can becalculated:

Ayi=d ²(|(Pyi+1)−Pyi|)/dt ²  (9)

ΔSyi=(Ly/2)*(Ayi/Aymax)  (10)

Note that when Ayi>Aymax, it is set: Ayi=Aymax.

Vyi=d(|(Pyi+1)−Pyi|)/dt

Ayi: Heave axis acceleration velocity (time instant “i”) of object to becontrolled on VR,

ΔSyi: Heave axis operation amount (time instant “i”),

Vyi: Heave axis transport velocity (time instant “i”),

Ly: Heave axis maximum operation stroke,

Aymax: Heave axis allowable maximum acceleration velocity,

Pyi: positional data (Y component, time instant “i”) of object to becontrolled.

(3) Conversion model into Sway operation.

The Sway operation corresponds to right/left operation of a motion base.Since this motion may give acceleration feelings of a motion base rideralong the right/left direction, an acceleration velocity of an object tobe controlled is calculated from the below-mentioned formula (11). Thenin order to realize a finite stroke, a scaling of formula (12) iscarried out, so that both an operation stroke and a velocity can becalculated;

Azi=d ²(|(Pzi+1)−Pzi|)/dt ²  (11)

ΔSzi=(Lz/2)*(Azi/Azmax)  (12).

Note that when Azi>Azmax, it is set: Azi=Azmax.

Vzi=d(|(Pzi+1)−Pzi|)/dt

Azi: Sway axis acceleration velocity (time instant “i”) of object to be.controlled on VR,

ΔSzi: Sway axis operation amount (time instant “i”),

Vzi: Sway axis transport velocity (time instant “i”),

Lz: Sway axis maximum operation stroke,

Azmax: Sway axis allowable maximum acceleration velocity,

Pzi: positional data (Z component, time instant “i”) of object to becontrolled.

(4) Mechanism correction mode 1 (Sway correction).

There are some cases that the above-described conversion model could notbe applied, depending upon mechanical mechanism. There is shown anexample of a mechanical correction model used in this case. First, insuch a case that the mechanism has no Sway axis operation mechanism, theSway amount ΔYo is corrected to a rotation amount Ro of a Roll axis.

Assuming now that a position of a coordinate system is “P” and a lengthof the Roll axis defined from a rotation center up to P is “Lo”,

Yo=Lo*Ro.

As a consequence, a roll correction amount ΔRo is calculated fromformula (13), and then is added to the rotation amount Ro of the Rollaxis.

 ΔRo=ΔYo/Lo  (13)

After all, the acceleration feelings along the right/left direction maybe realized by increasing the rotation amount “Ro” of the Roll axis byΔRo. It should be noted that when the length Lo is increased, the rollcorrection amount ΔRo can be decreased.

(5) Mechanism correction mode 2 (Surge correction).

There are some cases that the above-described conversion model could notbe applied, depending upon mechanical mechanism, which is shown anexample of a mechanical correction model 2. In such a case that themechanism has no Surge axis operation mechanism, the Surge amount ΔXo iscorrected to a rotation amount Po of a Pitch axis.

Assuming now that a position of a coordinate system is “P” and a lengthof the Pitch axis defined from a rotation center up to P is “Lo”,

Xo=Lo*Po.

As a consequence, a pitch correction amount ΔPo is calculated fromformula (14), and then is added to the rotation amount Po of the Pitchaxis.

ΔPo=ΔXo/Lo  (14)

After all, the acceleration feelings along the forward/backwarddirection may be realized by increasing the rotation amount “Po” of thePitch axis by ΔPo. It should be noted that when the length Lo isincreased, the pitch correction amount ΔPo can be decreased.

(6) Filtering correction model.

There are some cases that operations are excessively effected when datafrom a picture is converted in accordance with the above-explainedmodel. In such a case, a low-pass filter model capable of smoothing theoperation is prepared.

An example of the low-pass filter model employed in the present model isdescribed as follows: It should be noted that symbol “S” denotes adelay.

1+TL*S /(1 +α*TL*S)  (15)

F(S)={(1+TL*S)/(1+αL*TL*S)}*

{(1+Tf*S)/(1+αf*Tf*S)}  (16)

Note that symbol “∝L” is a lead system when the following condition isgiven:

∝<1.0.

When this low-pass filter model is employed, a high frequency componentcan be cut, and thus, the portion where the operations are excessivelyperformed can be out, so that the operations can be smoothed.

In FIG. 13, there is shown an example of a block diagram for executingthe above-described model. This model is arranged by World Coordinates131, Image Coordinates 132, Transformation into World coordinates 133,Transformation into Motion-Base coordinate 134, Transformation ofacceleration 135, Scaling Revision 136, Filter Control 137,Transformation Servo Data 138, and Servo Control 139. Then, the ImageCoordinates 132 first become the Transformation into World coordinates133, and then, become the Transformation into Motion-Base coordinates134 together with World Coordinates 131, and the Transformation ofacceleration 135 is carried out and then becomes the Scaling revision136, furthermore becomes the Filter Control 137, becomes theTransformation Servo Data 138, and becomes the Servo Control 139.

Referring now to FIG. 14 to FIG. 20, a description will be made ofanother. embodiment of the present invention.

A simulation rider transporting apparatus whose entire portion isindicated by reference numeral 141 is equipped with a rider base 144corresponding to a first base for mounting a seat 142. The seat 142constrains a rider “H” by way of a seat belt and the like.

The rider base 144 is supported via an elevation actuator 1410 by a base146 which constitutes a second base.

The base 146 is supported via a wheel and the like with respect to arail (not shown), and the transport of this base 146 is controlled alonga direction indicated by an arrow A.

The base 146 supports the rider base 144 via an actuator 1410corresponding to 3 sets of elevating means.

FIG. 15 represents attitudes of 3 sets of elevation actuators 1410arranged on the base 146. A first elevation actuator 1410 a is arrangedat a forward position of a front seat, whereas a second elevationactuator 1410 b and a third elevation actuator 1410 c are arranged onboth sides of a rear portion of the base 146.

As represented in FIG. 16 to FIG. 19, the elevation actuator 1410 isequipped with two cranks positioned opposite to each other, and issupported by a bracket 100 fixed on the base 146.

The bracket 100 supports a motor 110, and two crank arms 102 and 104 ina swingable manner. These two crank arms 102 and 104 are driven via areduction apparatus 120.

In other words, a power shaft of the motor 110 is coupled to the firstcrank arm 102, and the housing side of the motor 110 is coupled to thesecond crank arm 104. A relative angle “∝” defined by the first crankarm 102 and the second crank arm 104 can be controlled by controllingthe motor. In this case, the entire portion of the two crank arms 102and 104 containing the motor 110 is supported in a swingable manneraround an axis “C₁” with respect to the bracket 100.

One end portion of a crank rod 140 is rotatably coupled to each of tipportions of the two crank arms 102 and 104, and the other end portion ofthis crank rod 140 is coupled to a trunnion-shaped elevation member 150.

The elevation member 150 is coupled via a bracket 180 to the rider base144.

In FIG. 15, the first elevation actuator 1410 a is supported around thefirst axis C₁ in a swingable manner. As a consequence, the crank arms102, 104, the crank rod 140, and the elevation bracket 180 are movedwithin a first plane P₁ which is located perpendicular to the first axisC₁.

The second elevation actuator 1410 b is arranged in such a manner thatan axis “C₂” thereof intersects the first axis C₁ of the first elevationactuator 1410 a.

The third elevation actuator 1410 c is arranged in such a manner that anaxis “C₃” thereof intersects the first axis C₁ of the first elevationactuator 1410 a. These 3 elevation actuators are arranged on the planein such a manner that three planes P₁, P₂, P₃ where the crank arm, thecrank rod, and the elevation bracket are moved may intersect at a singlepoint “∞”.

FIG. 19 and FIG. 20 are explanatory diagrams for showing supportingstructures of the elevation bracket 180.

A node 130 provided at a tip portion of the crank arm 102 mounts a shaft132 pivotally supported by a bearing 134. The shaft 132 pivotallysupports a lower and portion of the crank rod 140.

A bracket 142 is fixed on the upper edge portion of the crank rod 140.The bracket 142 supports both end portions of the trunnion rod 150 bythe shaft 144 which is rotatably supported by the bearing 146 around anaxis C₁₁. A housing 160 is rotatably supported via a bearing 162 aroundan axis C₁₂ at a center portion of the trunnion rod 150. This housing160 supports a shaft 170 via a bearing 172 around an axis C₁₃, and anelevation bracket 180 is fixed with respect to the shaft 170.

The elevation bracket 180 supports the rider base 144. As a consequence,the elevation bracket 180 is supported with having a free degree alongthe three-dimensional direction with respect to the crank rod.

Since this apparatus is equipped with the above-described structures,the elevation amounts and also the elevation speeds of 3 sets ofelevation actuators 1410 a, 1410 b, and 1410 c are varied. As a result,the rider base 144 can achieve the pitch motion, the roll motion, andupper/lower motion. In addition to this motion, the base 146 is movedalong the forward/backward direction, so that 4 sorts of motion can beachieved. Since these four sorts of motion are combined with each other,the rider H can have simulation experiences.

When the rider base 144 is elevated along the upper/lower directions,one arm of the two crank arms 102 and 104 receives force derived fromthe rotation shaft of the motor 110, and the other arm thereof receivesforce derived from the main body portion of the motor 110. As a result,only one set of the motor may be sufficiently used, since torque of themotor 110 does not give effects to any members other than these twocrank arms 102 and 104.

It should be noted that one set of the motor is used in theabove-explained embodiment as the non-constraining means for changingthe angle defined between the two cranks to hold the changed angle.Alternatively, an oil pressure apparatus may be used. Also, theelevation means are arranged along the right-hand, left-hand, andforward directions with respect to the rider base. Alternatively, theseelevation means may be used at more than 3 positions. Furthermore, theforward/backward transporting means may not be employed. In thisalternative case, the base may constitute the second base.

Since the simulation rider transporting apparatus according to thisembodiment is equipped with the above-described structures and need notuses a cylinder type rod, the height of the simulation ridertransporting apparatus can be largely suppressed, and further, the largeoperation stroke can be realized. Then, when the simulation ridertransporting apparatus is installed in facilities, this simulation ridertransporting apparatus can b e readily installed at the existing placewithout newly digging a pit, and also without newly constructing abuilding.

The above-described embodiment is related to the simulation ridertransporting apparatus equipped with the seat 142, the rider H, the base146, and the elevation member 150, and the elevation actuator 1410.Alternatively, while the base 146 is used as a forward/backwardtransport base, both the forward/backward transport actuator and thebase may be provided under this forward/backward base. In thisalternative case, although the height of the simulation ridertransporting apparatus becomes high, the forward/backward transport basemay be transported along the forward/backward direction by way of theforward/backward actuator, and the rider base 144 can be quicklytransported along the forward/backward direction. While the elevationactuator is bent along the horizontal direction, is coupled to the base,and also the rod is rotatably coupled to the forward/backward base, theforward/backward transport base can be transported along theforward/backward direction.

While the embodiment according to the present invention have beendescribed above, the motion base control apparatus as indicated in FIG.1 through FIG. 7 corresponds to such a correction means capable ofexecuting the very fine correcting operation for executing the temporalcorrection every frame in the correction by the temporal aspect, andsuch a correction means which becomes effective in the frame correctionwhen the synchronization is largely shifted, or deviated.

Also, in accordance with the embodiment indicated from FIG. 8 to FIG.13, since the motion base operation data can be produced from the CGdata, even in such an interactive system that the operation patterncannot be previously predicted, the motion base operation data can beproduced, and the application range of the motion base can be widened.

Furthermore, in accordance with the embodiment shown in FIG. 14 to FIG.20, it is possible to obtain the simulation rider transportingapparatus, the height of which can be suppressed to a low height.

What is claimed is:
 1. A simulation rider transporting apparatus comprising: a seat including means for constraining an attitude of a rider in a position thereof; a first base for riding thereon both the rider and said seat; a second base arranged under said first base; and elevation means for elevating said first base, wherein: said elevation means comprises two cranks which are arranged opposite to each other between said first base and said second base; each of said cranks has a crank arm, each crank arm having an end coupled to said second base, and a crank rod for coupling the other end of each crank arm to said first base; and drive means are provided for changing a relative angle between said two crank arms to a predetermined value, and for holding said changed relative angle; and said elevation means has a rotation free degree with respect to one axial direction which intersects at a right angle a plane where the cranks are moved; and three sets of said elevation means are arranged on a front center portion and on both sides of rear portions of said second base, and said three sets of elevation means are disposed so that moving surfaces of each crank intersect at one point.
 2. A simulation rider transporting apparatus as claimed in claim 1 wherein: said three sets of elevation means are arranged in a direction along which planes where the respective cranks are moved, are intersected at one point. 